الفهرس 
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Abstract
The objective of this thesis is to control the output force, produced by the Hydraulic Servo System (HSS), to track a given desired force as closely as possible by using different types of fuzzy controllers.A Hydraulic Servo System is modeled using the block diagram-oriented environment, SIMULINK (MATLAB software). The simulation models include module for the actuators and the valve spool dynamics, including: amplifier saturation, pressure limits, friction, piston motion and nonlinear flow gain. The model is verified by comparing the simulated results with the experiment one. The model is used as a base for developing fuzzy force controllers which are used for tracking different types of force then the developed and adopted control strategy that is implemented and tested on the real system.The fuzzy controlled system which is consisting of linguistic defined fuzzy sets and the control rules are used. In our study three types of fuzzy controllers are used. The first one is PD-like fuzzy logic controller with Gaussian membership functions for the inputs and outputs of the control system. The second is a PI-like fuzzy controller. The third is a PD-like fuzzy controller plus integral. The inference process (the base rules set) uses the Macvicar-Whelan control matrix, and the defuzzification process uses the center-area method. The fuzzy controllers are implemented and applied to the experimental hydraulic force tracking system. The experimental results showed very good force tracking using the PD-like fuzzy controller.